CN115194729A - Rubber air bag driving device of snake-shaped robot and working method - Google Patents
Rubber air bag driving device of snake-shaped robot and working method Download PDFInfo
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- CN115194729A CN115194729A CN202210226952.XA CN202210226952A CN115194729A CN 115194729 A CN115194729 A CN 115194729A CN 202210226952 A CN202210226952 A CN 202210226952A CN 115194729 A CN115194729 A CN 115194729A
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- 229920001971 elastomer Polymers 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 8
- 238000004804 winding Methods 0.000 claims description 7
- 230000009194 climbing Effects 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 6
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 claims description 5
- 238000005452 bending Methods 0.000 claims description 4
- 241001597062 Channa argus Species 0.000 claims description 3
- 241000270295 Serpentes Species 0.000 claims description 3
- 239000004744 fabric Substances 0.000 claims description 3
- 239000004816 latex Substances 0.000 claims description 3
- 229920000126 latex Polymers 0.000 claims description 3
- 239000002985 plastic film Substances 0.000 claims description 3
- 229920006255 plastic film Polymers 0.000 claims description 3
- 238000011017 operating method Methods 0.000 claims 3
- 239000002184 metal Substances 0.000 claims 2
- 206010040844 Skin exfoliation Diseases 0.000 claims 1
- 230000035618 desquamation Effects 0.000 claims 1
- 230000008602 contraction Effects 0.000 abstract 1
- 238000010276 construction Methods 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a snake-shaped robot rubber air bag driving device and a working method thereof. The tubular rubber air bag is in an air-permeable state, extends and deforms under the action of pressure air, is in an air-releasing state when being disconnected, contracts back to the original length, and drives the circular framework to move through the extension and contraction of the tubular rubber air bag so as to drive the snake-shaped robot to carry out various movements.
Description
Technical Field
The invention relates to a snake-shaped robot driving device and a working method, belongs to the field of bionic machinery, and particularly relates to a snake-shaped robot rubber air bag driving mode and device.
Background
At present, the snake-shaped robot becomes a hot point of robot research, the drive mode of the snake-shaped robot mainly comprises a motor direct drive mode and a pull wire mode, for example, the application number is CN202110629904.0, and a snake head module, a snake body module group and a snake tail module group are connected with a pitching steering engine and a pitching auxiliary rotating shaft; CN202110427508.X, a ball-hinged pull-line variable auxiliary wheel type snake-shaped robot.
The motor direct drive mode is that a motor is arranged in each joint module to drive the joint to move, and the wire-pulling drive mode is that a steel wire rope is pulled by an external drive source to drive each joint to move. The two modes both belong to a mechanical driving mode, the snake-shaped robot in the mechanical driving mode has a complex structure, a large size and a heavy weight, and most of the snake-shaped robots advance by rotating wheels, so that the snake-shaped robots cannot move under the conditions of complex terrains such as desert, marsh, forest and the like. Therefore, the development of a snake-shaped robot capable of moving under complex terrain conditions is a technical problem to be solved in the field.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide a rubber air bag driving device for a snake-shaped robot, which is used for solving various problems of complicated structure, large size, heavy weight and the like of a mechanical driving mode.
In order to solve the technical problem, the invention provides a snake-shaped robot rubber air bag driving device which comprises a plurality of sections of circular frameworks which are distributed equally along the length direction of the snake-shaped robot and a tubular outer skin which is pasted with inverse scales and wraps the circular frameworks, wherein four tubular rubber air bags are connected between every two sections of the circular frameworks, one end of each tubular rubber air bag is provided with an inflation opening which is connected with an inflation pipeline, and the inflation pipeline is arranged in a circular hole in the center of the circular frameworks.
Furthermore, the circular framework is a thin plate with the radial size far larger than the axial size, a large circular hole is formed in the center of the circular thin plate and used for penetrating through an inflation pipeline, and an upper small circular hole, a lower small circular hole, a left small circular hole and a right small circular hole are formed in the outer edge of the circular thin plate and used for being connected with the tubular rubber air bag.
Furthermore, the tubular rubber air bag is made of latex materials, can extend and deform after being inflated, and can recover the original length after being deflated.
Furthermore, the tubular outer skin wrapping the circular framework can be made of common cloth, plastic films, thin rubber materials and the like, one side of the outer skin adhering to the ground is adhered with inverse scales, and the inverse scales are in an oval shape and are adhered to one half of the tubular outer skin along the advancing direction.
Compared with the prior art, the invention has the following beneficial effects: the pneumatic rubber bag driving device and the pneumatic rubber bag driving mode can replace a mechanical driving device, so that the driving device has a simple structure, the volume is reduced, and the weight is greatly reduced; the problem that the snake-shaped robot moves forwards depending on wheels is effectively solved through the friction force generated by the inverse scales adhered to the tubular outer skin and the ground, so that the snake-shaped robot can adapt to the movement under the complex terrain conditions of deserts, swamps, forests and the like, and the application range of the snake-shaped robot is wider.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is a front view of the construction of an embodiment of the present invention;
FIG. 2 is a left side view of the construction of an embodiment of the present invention;
FIG. 3 is a schematic serpentine view of an embodiment of the present invention;
FIG. 4 is a schematic view of an air supply system according to an embodiment of the present invention;
in the figure: the rubber air bag comprises a circular framework of each section A1, a circular framework of each section B1, a circular framework of each section C1 and a circular framework of each section D1, a tubular rubber air bag of each section A2, a tubular rubber air bag of each section B2, a tubular rubber air bag of each section C2 and a tubular rubber air bag of each section D2, an inflation inlet of each section A3, an inflation inlet of each section B3, an inflation inlet of each section C3 and an inflation inlet of each section D3, an inflation pipeline 4, a tubular skin 5 and a scale 6.
Detailed Description
As shown in fig. 1 to 4, the pneumatic rubber bag driving device for the snake-shaped robot comprises a plurality of sections of circular frameworks which are equally distributed along the length direction of the snake-shaped robot and a tubular outer skin which is pasted with inverse-scale wrapped circular frameworks, wherein every two sections of circular frameworks are connected through four tubular rubber air bags, one end of each tubular rubber air bag is provided with an inflation inlet which is connected with an inflation pipeline, and the inflation pipeline is arranged in a circular hole in the center of each circular framework.
In the embodiment of the invention, the circular frameworks A1, B1 and C1 are thin plates of which the radial size is far larger than the axial size, a large circular hole is formed in the center of each thin plate and used for penetrating through an inflation pipeline, and four small circular holes, namely an upper small circular hole, a lower small circular hole, a left small circular hole and a right small circular hole, are formed in the outer edge of each thin plate and used for connecting a tubular rubber air bag.
In the embodiment of the invention, the tubular rubber air bags A2, B2 and C2 are made of latex materials, can be stretched and deformed after being inflated, and can be restored to the original length after being deflated.
In the embodiment of the invention, the tubular outer skin 5 wrapping the circular framework can be made of common cloth, plastic film, thin rubber material and the like, and the ground-attached side is adhered with the inverse scale 6 which is in an oval shape and is half adhered with the tubular outer skin along the advancing direction.
In the embodiment of the invention, the 8 inflation pipelines are all connected with an air source system, and the on/off of the inflation pipelines and the air pump is controlled by a two-position three-way electromagnetic directional valve. When the air inflation pipeline and the tubular rubber air bag connected with the air inflation pipeline are communicated, the tubular rubber air bag extends and deforms under the action of pressure air; when the air inflation pipeline and the tubular rubber air bag connected with the air inflation pipeline are in a deflation state, and the tubular rubber air bag contracts back to the original length.
The working principle of the embodiment is as follows: firstly, connecting the circular frameworks A1, B1 and C1. By using tubular rubber airbags A2, B2 and C2. According to the technical characteristics, simultaneously connecting each inflation pipeline into a circular hole in the center of the circular framework, connecting each tubular rubber airbag with a corresponding inflation pipeline 4 by using inflation ports A3, B3 and C3. And connecting each inflation pipeline with an air source system, and finally wrapping the tubular outer skin 5 outside the circular framework.
The motion modes of the snake-shaped robot mainly include a winding motion, a stretching motion and a winding climbing motion, and the following describes three motion modes one by one according to the first section of the snake-shaped robot:
1. the serpentine motion is formed by controlling the air supply system to inflate the two leftmost and rightmost inflation tubes 4, and when the two leftmost and rightmost inflation tubes 4 are connected with the difference between A2 left, B2 left, C2 left, or A2 right, B2 right, C2 right in A2, B2, C2., (8 total inflation tubes in the system, see fig. 2), that is, the connection of A2 left, B2 right, C2 left, D2 right., is formed, and then is converted into A2 right, B2 left, C2 right, D2 left.
When the air source system is controlled to inflate the uppermost inflation pipeline 4 and the lowermost inflation pipeline 4, and the uppermost inflation pipeline 4 and the lowermost inflation pipeline 4 are connected with the difference between the A2 upper part, the B2 upper part, the C2 upper part or the A2 lower part, the B2 lower part and the C2 lower part in the A2, the B2 and the C2.
2. Telescoping movement
And controlling an air source system to inflate four inflation pipelines 4 at the top, the bottom, the left and the right, wherein when the four inflation pipelines at the top, the bottom, the left and the right are respectively connected with the differences among A2 upper, A2 lower, A2 left, A2 right, C2 upper, C2 lower, C2 left and C2 right in A2, B2 and C2, connection of A2, C2, E2 and G2 is formed, then the connection is converted into B2, D2, F2 and H2, and the connection is alternately converted, so that the snake-shaped robot can form telescopic motion.
3. Winding climbing movement
The air source system is controlled to inflate four inflation pipelines 4 which are the uppermost, the lowermost, the leftmost and the rightmost, when the lowermost and the rightmost inflation pipelines are respectively connected with the lower part of A2, the right part of A2, the lower part of B2, the right part of B2, the lower part of C2 and the right part of C2, the snake-shaped robot can form a state on a left spiral disk, and when the uppermost and the leftmost inflation pipelines are respectively connected with the upper part of A2, the left part of A2, the upper part of C2, the left part of C2, the upper part of E2 and the left part of E2, the snake-shaped robot can form spiral winding climbing movement. Similarly, a state of right spiral winding climbing motion can be formed, and the detailed process is not repeated.
In the big circular hole at the center of the circular skeleton, 8 inflation pipes 4 are arranged, besides the four inflation pipes at the top, the bottom, the left and the right, 4 inflation pipes are arranged between the top, the bottom, the left and the right, and the inflation pipes are used as supplement according to the special movement requirements of the snake-shaped robot, for example: snake head lifting, upper body erection, bending amplitude increase, and the like, and proper tubular rubber air bag groups A, B, C and D are selected for connection so as to meet the special movement requirements.
The present invention is not limited to the above preferred embodiments, and any person can derive other various forms of robots driven by the pneumatic rubber bag driving device and their bionic machinery according to the teaching of the present invention, and all the equivalent changes and modifications made according to the claims of the present invention shall fall within the scope of the present invention.
Claims (5)
1. The snake-shaped robot rubber air bag driving device and the working method are characterized in that: including a plurality of sections circle skeleton along the equant distribution of snake shape robot length direction and paste the tubulose crust that has the parcel circle skeleton of desquamation, connect by four tubulose rubber airbags between per two sections circle skeleton, tubulose rubber airbags one end is provided with the inflation inlet and is connected with gas pipeline, gas pipeline sets up in the circular hole at circular skeleton center.
2. The rubber airbag driving device for a serpentine robot and the operating method thereof according to claim 1, wherein: circular skeleton is radial size and is greater than axial dimensions's sheet metal far away, is provided with big circular hole at circular sheet metal center for pass the gas filled tube way, sets up four little circular holes on upper and lower, left and right sides in circular sheet metal outer edge, is used for connecting tubulose rubber air bag.
3. The rubber airbag driving device for a serpentine robot and the operating method thereof according to claim 1, wherein: the tubular rubber air bag is made of latex materials, can extend and deform after being inflated, and can recover the original length after being deflated.
4. The rubber airbag driving device for a serpentine robot and the operating method thereof according to claim 1, wherein: the tubular outer skin wrapping the circular framework can be made of common cloth, plastic films, thin rubber materials and the like, one side of the tubular outer skin which is attached to the ground is adhered with inverse scales, and the inverse scales are in an oval shape and are adhered to one half of the tubular outer skin along the advancing direction.
5. The operation method of the snake-shaped robot rubber air bag driving is characterized in that any one of the snake-shaped robot rubber air bag driving devices of claims 1-4 is adopted, and the operation method is carried out according to the following steps:
step S1, connecting:
according to the technical characteristics, the circular frameworks A1, B1 and C1 are connected through the tubular rubber air bag groups A2, B2 and C2, meanwhile, the air inflation pipelines 4 are inserted into a circular hole in the center of the circular framework, the tubular rubber air bags are connected with the corresponding air inflation pipelines through the air inflation ports A3, B3 and C3, the air inflation pipelines are connected with an air source system, and finally, the tubular outer skin 5 is wrapped outside the circular framework.
Step S2, movement:
s21 meandering: inflating the leftmost inflation pipeline and the rightmost inflation pipeline by controlling a two-position three-way electromagnetic reversing valve of an air source system, and forming connection of A2 left, B2 right, C2 left and D2 right when the leftmost inflation pipeline and the rightmost inflation pipeline are connected with the difference between A2 left, B2 left and C2 left or A2 right, B2 right and C2 right in the tubular rubber air bag group, wherein the snake-shaped robot can form bending deformation in a horizontal plane; then the connection is changed into the connection of A2 right, B2 left, C2 right and D2 left, and the snake-shaped robot can form the meandering motion in the horizontal plane by the alternate change.
When the air source system is controlled to inflate the uppermost inflation pipeline and the lowermost inflation pipeline, and the uppermost inflation pipeline and the lowermost inflation pipeline are connected with the difference between the A2 upper part, the B2 upper part and the C2 upper part or the A2 lower part, the B2 lower part and the C2 lower part in the A2, the B2 and the C2 lower parts, the connection of the A2 upper part, the B2 lower part, the C2 upper part and the D2 lower part is formed, and at the moment, the snake-shaped robot can form the bending deformation in the vertical plane; then, the connection is changed into connection of A2 lower part, B2 upper part, C2 lower part and D2 upper part, and the connection is changed alternately, at this time, the snake-shaped robot can form a meandering motion in the vertical plane.
S22, telescopic movement: the upper-most, the lower-most, the left-most and the right-most four inflation pipelines are inflated by controlling a two-position three-way electromagnetic reversing valve of an air source system, and are respectively connected with the differences among A2 upper part, A2 lower part, A2 left part, A2 right part, C2 upper part, C2 lower part, C2 left part and C2 right part in the tubular rubber air bag group A2, B2 and C2 part, so that the connection states of A2, C2, E2 and G2 part are formed, and at the moment, the snake-shaped robot can form extension deformation; then the connection of B2, D2, F2 and H2. Is changed, and the connection is changed alternately, at the moment, the snake-shaped robot can form telescopic motion.
S23, winding and climbing movement: the upper most, the lower most, the left most and the right most four inflation pipelines are inflated by controlling a two-position three-way electromagnetic directional valve of an air source system, and when the lower most and the right most inflation pipelines are respectively connected with the A2 lower part, the A2 right part, the B2 lower part, the B2 right part, the C2 lower part and the C2 right part, the snake-shaped robot can form a state on a left spiral disk; under the state of being on the left spiral disk, the uppermost and the leftmost inflation pipelines are respectively connected with the A2 upper part, the A2 left part, the C2 upper part, the C2 left part, the E2 upper part and the E2 left part at the same time. In the same way, the state of climbing movement of right spiral winding can also be formed.
S24, special movement: in the big circular hole in the center of the circular skeleton, 8 inflation pipes are arranged in total, besides the four inflation pipes at the top, the bottom, the left and the right, 4 inflation pipes are arranged at the top, the bottom, the left and the right, which can be used as supplementary inflation pipes according to the special movement requirements of the snake-shaped robot, such as: the snake head is lifted, the upper half body is erected, the bending amplitude is increased, and the like, and the upper tubular rubber air bag, the lower tubular rubber air bag, the left tubular rubber air bag and the right tubular rubber air bag in the proper tubular rubber air bag groups A, B, C and D are selected to be connected so as to meet the special movement requirements.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210226952.XA CN115194729A (en) | 2022-03-08 | 2022-03-08 | Rubber air bag driving device of snake-shaped robot and working method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210226952.XA CN115194729A (en) | 2022-03-08 | 2022-03-08 | Rubber air bag driving device of snake-shaped robot and working method |
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| CN115194729A true CN115194729A (en) | 2022-10-18 |
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| CN202210226952.XA Pending CN115194729A (en) | 2022-03-08 | 2022-03-08 | Rubber air bag driving device of snake-shaped robot and working method |
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|---|---|---|---|---|
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| CN113211423A (en) * | 2021-04-21 | 2021-08-06 | 河海大学 | Spherical hinge pull wire variable auxiliary wheel type snake-shaped robot |
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-
2022
- 2022-03-08 CN CN202210226952.XA patent/CN115194729A/en active Pending
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| CN113492397A (en) * | 2021-06-07 | 2021-10-12 | 燕山大学 | Modular detachable wheel type snake-shaped robot |
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Non-Patent Citations (1)
| Title |
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